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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-07092021-111321


Tipo di tesi
Tesi di laurea magistrale
Autore
BONIFATI, PAOLO
URN
etd-07092021-111321
Titolo
Simultaneous perception and manipulation: how optimal manipulation patterns can inform on objects mechanical properties
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bianchi, Matteo
relatore Prof. Salaris, Paolo
relatore Averta, Giuseppe Bruno
Parole chiave
  • active sensing
  • grasping
  • human-robot interaction
  • manipulation
  • perception
Data inizio appello
30/09/2021
Consultabilità
Non consultabile
Data di rilascio
30/09/2091
Riassunto
The problem of grasping objects with robotic hands has a long history in literature, yet many issues are still open, especially when dealing with the perception of the touched object, and its manipulation. These two problems are usually analyzed separately; however, it is important to look at the two aspects in a joint fashion. In this thesis I propose a general theoretical framework for the simultaneous perception and manipulation of an unknown object with generic robotic hands, considering also the limits of the manipulator.
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